Perancangan dan Implementasi Kontroler PID untuk Pengaturan Autonomous Car-Following Car
Submission Date: 2014-02-10 11:21:36
Accepted Date: 2014-03-15 00:00:00
Abstract
Pengiriman logistik ke daerah-daerah rawan bencana merupakan hal yang sangat sulit dilakukan, tentunya diperlukan pengetahuan mengenai kondisi medan jalan. Salah satu dampak yang utama adalah sulitnya melakukan manuver dalam pengendalian performansi truk logistik yang pada umumnya berupa truk-truk gandeng. Untuk membantu pengemudi truk dalam berkendara pada kondisi tersebut, dirancang sebuah prototype mobil mandiri (Autonomous Car) yang mampu melakukan manuver-manuver pergerakan secara sendirinya, salah satu manuver tersebut ialah Following Car. Dalam Tugas Akhir ini perancangan sistem yang akan dilakukan dengan memodelkan dua buah kendaraan mobil RC (remote control) yang bertindak sebagai follower dan leader car. Pengoperasian dari following car dilakukan dengan memodifikasi dari kendaraan RC-1, sedangkan RC-2 bertindak sebagai leader car yang dikondisikan secara manual. Dengan penerapan kontroler PID pada implementasi sistem didapatkan penurunan time settling menjadi 2,7 Detik dan peningkatan error steady state sebesar 2,44%. Pada implementasi diberikan kecepatan leader secara acak, dengan implementasi kontroler PID, kondisi jarak antara autonomous car dengan leader car masih dalam range keadaan ideal pada set point.
Keywords
autonomous car; following car; kontroler PID; time settling; error steady state; set point
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